摘要
立体曲线焊缝焊接时会产生较大的焊接变形,如以示教方式进行机器人焊接将导致焊接路径的偏离,必须在焊接过程中进行实时纠偏。设计开发了一种焊接机器人控制系统,硬件以ARM9-S3C2440为核心,通过RS232与机器人进行通信,编写了控制软件,实现了焊接机器人的焊枪位置实时调整,有效应对了焊接热变形的影响。既保证了焊枪沿着坡口中心运动,又保证了导电嘴到工件的距离(CTWD),焊接工艺稳定,焊缝质量较好。
Welding distortion emerges in three-dimensional seam welding.The teaching-playback robot can not correct the deviation real-timely by itself.Therefore,it is necessary to correct the deviation during welding process real-timely.Based on ARM9-S3C2440,by using RS-232 to communicate with welding robot,this control system can adjust the welding traveling path in real-time.It can control the position of the welding torch to get rid of the side effect of hot deformation.Using this control system,it is guaranteed that not only the welding torch moves along the seam center,but also that the contact tube to workpiece distance（CTWD） is equal.In welding experiments,it produces good welding quality.
出处
《电焊机》
北大核心
2011年第7期15-18,37,共5页
Electric Welding Machine
基金
海军装备部科研资助项目
中央高校基本科研业务费专项资金资助项目(2009ZM0318)
国家自然科学基金资助项目(50705030)
